// --------------------------------------------------------------------------------------------------------------------
// <copyright file="RGBDCameraMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Vision.Runtime.Cameras
{
    using System;
    using System.Collections.Generic;
    using System.Drawing;
    using System.Linq;
    using System.Runtime.Serialization;
    using System.Text;
    using System.Threading.Tasks;

    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Vision.Cameras;

    /// <summary>
    /// Base class for all RGB-D sensors (kinect, stereo, etc.)
    /// </summary>
    /// <typeparam name="TColorParameters">The parameters for the color camera</typeparam>
    /// <typeparam name="TDepthParameters">The parameters for the depth camera</typeparam>
    [DataContract]
    public class RGBDCameraMessage<TColorParameters, TDepthParameters> : AgentMessage
        where TColorParameters : ColorParameters
        where TDepthParameters : DepthParameters
    {
        /// <summary>
        /// Initializes a new instance of the RGBDCameraMessage class
        /// </summary>
        /// <param name="originatingTime">The originating time of the message</param>
        /// <param name="colorCamera">The camera generating the color image</param>
        /// <param name="depthCamera">The camera generating the depth image</param>
        /// <param name="alignmentType">The alignment type</param>
        public RGBDCameraMessage(
            long originatingTime,
            ColorCameraAgentMessage<TColorParameters> colorCamera,
            DepthCameraAgentMessage<TDepthParameters> depthCamera,
            Type alignmentType = null)
            : base(originatingTime)
        {
            this.ColorCamera = colorCamera;
            this.DepthCamera = depthCamera;
            this.AlignmentType = alignmentType;
        }

        /// <summary>
        /// Gets the color camera
        /// </summary>
        [DataMember]
        public ColorCameraAgentMessage<TColorParameters> ColorCamera { get; private set; }

        /// <summary>
        /// Gets the depth camera
        /// </summary>
        [DataMember]
        public DepthCameraAgentMessage<TDepthParameters> DepthCamera { get; private set; }

        /// <summary>
        /// Gets the alignment type
        /// </summary>
        [DataMember]
        public Type AlignmentType { get; private set; }
    }
}
